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US8007224B2 - Depalletizing device - Google Patents

Depalletizing device Download PDF

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Publication number
US8007224B2
US8007224B2 US11/884,598 US88459806A US8007224B2 US 8007224 B2 US8007224 B2 US 8007224B2 US 88459806 A US88459806 A US 88459806A US 8007224 B2 US8007224 B2 US 8007224B2
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US
United States
Prior art keywords
power
friction roller
carriage
drive
raised
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related, expires
Application number
US11/884,598
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English (en)
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US20090028687A1 (en
Inventor
Mark van de Klundert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CSI INDUSTRIES B V
CSI Ind BV
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CSI Ind BV
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=35106750&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US8007224(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by CSI Ind BV filed Critical CSI Ind BV
Assigned to CSI INDUSTRIES BV reassignment CSI INDUSTRIES BV ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: VAN DE KLUNDERT, MARK
Publication of US20090028687A1 publication Critical patent/US20090028687A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack

Definitions

  • the invention relates to a depalletizing device for lifting up objects loaded onto a pallet. More in particular, the invention relates to a depalletizing device comprising a carriage as well as a friction roller attached to the carriage, which friction roller is rotatable about a horizontal rotation axis and is coupled to a rotational drive in order to rotate, the carriage being movable to and fro in a direction at right angles to the rotation axis of the friction roller in order to push the friction roller against a side of an object on the pallet in such a manner that the friction roller exerts an upward friction force on the object, as a result of which the object is raised on that side, and in order for the friction roller to pass underneath said object after the latter has been raised.
  • GB 1 559 973 discloses a depalletizing device having a sliding carriage and a roller which is arranged at the front thereof so as to be rotatable.
  • the roller is arranged in a spring-mounted manner relative to the carriage by means of a coiled spring.
  • the roller is driven in rotation.
  • the carriage is moved in the direction of the objects on a pallet.
  • the spring is pushed in, resulting in an increase in the spring force and thus the pressing force of the roller on the object.
  • the friction between the moving roller surface and the object increases until the roller moves the object upwards and causes it to tilt.
  • One side of the object is lifted up by the roller and once the object has tilted sufficiently, the roller will pass underneath the object, the object being moved backwards via the roller.
  • a depalletizing device comprising a carriage as well as a friction roller attached to the carriage.
  • the friction roller is rotatable about a horizontal rotation axis and is coupled to a rotational drive in order to rotate.
  • the carriage is movable to and fro in a direction at right angles to the rotation axis of the friction roller in order to push the friction roller against a side of an object on the pallet in such a manner that the friction roller exerts an upward friction force on the object, as a result of which the object is raised on that side, and in order for the friction roller to pass underneath said object after the latter has been raised.
  • the depalletizing device comprises drive means with variable driving power in order to drive the carriage.
  • the drive means comprise detection means, and are designed such that, when the carriage moves, it is driven with a power of not more than a base value. Furthermore the drive means are designed such that, when the friction roller engages on the side of the object, the driving power is increased from that power until the detection means detect that the object has been raised, and such that the power is immediately reduced to the base power when the detection means detect that the object has been raised sufficiently high.
  • the roller As the carriage is driven with low power, the roller is applied to the object to be depalletized at a low speed.
  • the device according to the invention is suitable for depalletizing objects of varying dimensions and weight. The power is automatically increased if this is required in order to raise the respective object, thus ensuring that the roller is applied to the object with a force which is as low as possible. The latter is advantageous in order to prevent the object from being damaged or crushed.
  • the carriage is driven by an electrically driven frequency motor or servomotor.
  • the power can be quickly adjusted.
  • the power can be reduced very quickly, so that the carriage does not slip, which could lead to damage to the object or to the palletized objects situated behind it.
  • the drive means comprise a control unit coupled to the detection means in order to control the power.
  • the control unit may be designed in a simple manner for increasing or decreasing the motor power, based on information from the detection means.
  • the increase in power may be effected in a step by step or continuously variable manner.
  • the detection means comprise a light source and an optical sensor connected to the control unit which are arranged opposite one another in such a manner that a light beam is transmitted from the light source to the sensor at the front, parallel to the friction roller, the control unit preferably being designed to increase the power of the motor for as long as a certain proportion of the light beam is interrupted by the object to be raised and to decrease the power when the light beam is no longer interrupted.
  • FIG. 1 shows an embodiment of a depalletizing device according to the invention
  • FIGS. 2 to 6 show a detail view of a front part of a carriage of a depalletizing device according to the invention in various stages during the raising of a palletized object
  • FIG. 7 shows the depalletizing device from FIG. 1 in the state corresponding to FIG. 6 .
  • FIG. 8 shows the depalletizing device from FIG. 1 with several objects on the carriage
  • FIG. 9 shows another embodiment of a depalletizing device according to the invention.
  • FIG. 10 shows a schematic representation of a control system for the depalletizing device of FIG. 1 .
  • FIG. 11 shows a schematic representation of a control system for the depalletizing device of FIG. 9 .
  • FIG. 1 shows a depalletizing device 1 .
  • the depalletizing device 1 comprises a carriage 2 and a preferably gantry-shaped stationary frame 3 .
  • the carriage 2 is coupled to a travelling crab 5 which is displaceable in a horizontal direction over a guide 4 attached to the frame 3 by means of a motor 6 , arranged on the frame 3 .
  • the travelling crab 5 is coupled to the motor 6 by means of a chain 7 or another suitable transmission element.
  • the chain 7 is guided over a chain wheel 8 driven by the motor 6 and over a freely rotatable chain wheel 9 which is located on the other side of the frame 3 .
  • a transmission for example a gear reduction 29 , may be arranged between the chain wheel 8 and the motor 6 .
  • the chain 7 is fixedly connected to the travelling crab 5 so that the latter is moved along the guide 4 by rotation of the chain wheel 7 of the motor 6 .
  • the carriage 2 is vertically displaceable relative to the travelling crab 5 and thus relative to the stationary frame 3 by means of lifting means.
  • the lifting means comprise a lifting member 10 which is shown diagrammatically by way of example, is substantially rigidly connected to the carriage 2 and can be displaced in a vertical direction relative to the travelling crab 5 by means of a lifting drive (not shown).
  • a stationing location 11 is situated under the frame 3 for a pallet 12 containing stacked objects 13 to be depalletized.
  • the stationing location 11 is preferably formed by a part of a roller conveyor, as illustrated in FIG. 1 .
  • a retaining panel 15 is arranged on one side of the stationing location 11 , which retaining panel supports the objects 13 on the pallet 12 on one side and retains them during depalletizing, as will be explained in more detail in the description below.
  • a second stationing location 16 for pallets 17 is provided.
  • This second stationing location 16 may serve for the stationing of pallets 17 which have to be filled with objects 18 .
  • this could be a stationing location for objects 13 to be depalletized, as is the case for 11 .
  • a retaining panel could then preferably be arranged and the carriage 2 would have to be rotatable through 180° relative to the lifting member 10 .
  • a protruding part 21 which runs obliquely upwards is provided on a front of the carriage 2 .
  • a friction roller 22 is fitted to the front of the oblique part 21 .
  • the friction roller 22 is preferably rigidly connected to the carriage 2 .
  • the friction roller 22 is rotatable about a horizontal rotation axis.
  • the friction roller 22 preferably extends over the entire width of the carriage 2 .
  • the roller 22 is coupled to a rotational drive 27 , which preferably causes the roller 22 to rotate continuously at a constant speed, in a direction as is indicated in FIG. 2 by a curved arrow, the direction of rotation being such that the front of the roller 22 exerts an upwardly directed friction force on an object 13 , as is illustrated in FIG. 2 by a curved arrow, when the roller 22 engages on the object 13 .
  • Detection means are provided near the friction roller 22 .
  • These detection means are preferably optical detection means 23 , for example comprising a light source and a sensor.
  • FIG. 2 shows a sensor 23 a which is arranged near a first end of the friction roller 22 .
  • a light source is arranged which is not shown in the figure. The light source emits a beam of light along the front of the friction roller 22 , parallel to the centre axis thereof.
  • the sensor 23 a will generate a corresponding signal.
  • a stationing platform 24 is provided on the carriage 2 for receiving objects 13 which have been lifted up.
  • the stationing platform 24 on the carriage 2 is provided with conveying means, such as a conveyor belt 25 and/or one or more driven rollers 26 in order to transport the lifted object 13 away from the friction roller 2 on the carriage towards the rear.
  • conveying means such as a conveyor belt 25 and/or one or more driven rollers 26 in order to transport the lifted object 13 away from the friction roller 2 on the carriage towards the rear.
  • conveying means such as a conveyor belt 25 and/or one or more driven rollers 26 in order to transport the lifted object 13 away from the friction roller 2 on the carriage towards the rear.
  • the part 21 which runs obliquely upwards may itself also be provided with a conveyor belt.
  • the motor 6 for driving the carriage is preferably an electrically driven servomotor or frequency motor.
  • the maximum power supply of such a motor can be varied.
  • the depalletizing device 1 preferably comprises a control unit 40 which is coupled to the motor 6 and the detection means 23 as is shown in FIG. 10 .
  • the operation of the device 1 will be explained in more detail with reference to FIGS. 2-6 .
  • the carriage 2 In order to remove the objects 13 stacked onto a pallet 12 from the stack, the carriage 2 is moved in the direction of the stacked objects by means of the control unit 40 and the motor 6 .
  • the height of the carriage 2 is in this case preferably set, for example by the control means, such that the friction roller 22 is at the level of the bottom half of the object 13 , preferably as close as possible to the bottom edge of the side 13 a on which the roller 22 engages (see FIG. 2 ).
  • Said height setting can be determined for example with the aid of optical means coupled to the control unit 40 . It is also possible, in case the height coordinates of the objects to be depalletized are known beforehand, to preprogram these into the control unit 40 .
  • the control means 40 control the motor 6 such that it supplies a power of not more than a base value, as a result of which the carriage 2 provided with the roller 22 approaches the object 13 at a predetermined, preferably low and preferably constant, speed when it is in the vicinity thereof.
  • the sensor 23 a When the object 13 to be lifted touches the roller 22 and the sensor 23 a is shielded to a sufficient degree from the light beam emanating from the opposite light source, the sensor 23 a will emit a signal to the control unit 40 . On the basis of that signal, the control unit 40 will then drive the motor 6 to a higher driving power. As a result of this higher driving power, the roller 22 is pressed against the side 13 a of the object 13 with greater force. The object 13 is retained at its opposite side 13 b by an adjacent object 13 or by the retaining panel 15 . An increase in pressing force results in an increase in the friction force between the roller 22 and the side 13 a , which will eventually lead to the side 13 a being lifted up, as shown in FIG. 3 .
  • the control unit will continue to increase the power supplied by the motor 6 .
  • This increase in power may be effected in a step by step but also in a continuously variable manner.
  • the power is increased quickly in this case, so that the pressing force and thus the friction force between the roller 22 and the object 13 rise quickly.
  • the sensor 23 a When the side 13 a of the object 13 has been lifted by the effect of the friction force to such an extent that the object 13 no longer blocks the sensor 23 a and the light beam can thus reach the sensor 23 a , as indicated in FIG. 4 , the sensor 23 a will emit a signal to the control unit 40 . Based on this signal, the control unit 40 will immediately decrease the power of the motor 6 to no more than the aforementioned base value. The oblique part 21 will then pass under the raised object 13 at a low speed, as is illustrated in FIG. 5 . When virtually the entire object 13 has been transported over the roller 22 (see FIG. 6 and FIG. 7 ), the object 13 is transported further to the rear over the roller 26 and by means of the conveyor belt 25 , which is indicated by an arrow 80 in FIG. 8 , in which two rows of objects 13 have already been arranged on the platform 24 by way of example.
  • FIG. 9 shows an alternative depalletizing device 90 according to the invention.
  • the carriage 2 is arranged on the head 91 of a spherical robot 92 .
  • the parts of the carriage 2 are essentially identical to those described with reference to the FIGS. 1-8 .
  • These parts as well as those of the stationing locations for the pallets 12 are denoted by the same reference numerals in FIG. 9 . Reference is made to the above for a description of the relevant parts.
  • the spherical robot 92 is coupled to a control unit 50 having servo controls for the actuators 93 of the robot 92 (cf. FIG. 11 ). These servo controls make up the power control which was described above with reference to the FIGS. 1-8 .
  • the drive means of the carriage 2 comprise the robot 92 and the associated control unit 50 .
  • the depalletizing device 1 , 90 can depalletize various objects 13 of various dimensions and weight without significant changes to the settings. As a result, it is also possible to easily depalletize a pallet 12 on which layers consisting of various products of varying dimensions and weight are stacked without the device having to be adjusted for each layer of the respective product in order to prevent damage, for example. It is even possible to depalletize several rows of different objects in each layer, provided of course, that the objects can be stacked onto the pallet 12 in such a manner.
  • control system or parts thereof can comprise software instructions to be executed on one or more microcomputers, microprocessors, microcontrollers or any other electronical programmable component or components. It is also possible to have one or more parts of the control system implemented in hardware such as e.g. electronic circuitry.

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  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Warehouses Or Storage Devices (AREA)
  • De-Stacking Of Articles (AREA)
US11/884,598 2005-02-18 2006-01-25 Depalletizing device Expired - Fee Related US8007224B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL1028344A NL1028344C2 (nl) 2005-02-18 2005-02-18 Depalletiseerinrichting.
NL1028344 2005-02-18
PCT/NL2006/000041 WO2006088354A1 (en) 2005-02-18 2006-01-25 Depalletizing device

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2006/000041 A-371-Of-International WO2006088354A1 (en) 2005-02-18 2006-01-25 Depalletizing device

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/190,124 Continuation US8342791B2 (en) 2005-02-18 2011-07-25 Depalletizing device

Publications (2)

Publication Number Publication Date
US20090028687A1 US20090028687A1 (en) 2009-01-29
US8007224B2 true US8007224B2 (en) 2011-08-30

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US11/884,598 Expired - Fee Related US8007224B2 (en) 2005-02-18 2006-01-25 Depalletizing device
US13/190,124 Expired - Fee Related US8342791B2 (en) 2005-02-18 2011-07-25 Depalletizing device

Family Applications After (1)

Application Number Title Priority Date Filing Date
US13/190,124 Expired - Fee Related US8342791B2 (en) 2005-02-18 2011-07-25 Depalletizing device

Country Status (6)

Country Link
US (2) US8007224B2 (nl)
EP (1) EP1855970B1 (nl)
CA (1) CA2595816A1 (nl)
DE (1) DE602006007816D1 (nl)
NL (1) NL1028344C2 (nl)
WO (1) WO2006088354A1 (nl)

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US20120034060A1 (en) * 2005-02-18 2012-02-09 Csi Industries B.V. Depalletizing device

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AT503572B1 (de) * 2006-08-03 2007-11-15 Tgw Transportgeraete Gmbh Fördereinrichtung zum depalettieren von auf einem warenträger gestapelter waren
AT504128B1 (de) * 2006-10-02 2008-03-15 Tgw Transportgeraete Gmbh Vorrichtung und verfahren zur entnahme von ladegütern
AT505566B1 (de) * 2007-07-20 2009-07-15 Tgw Mechanics Gmbh Depalletierentnahmeförderer
WO2009043151A1 (en) * 2007-10-04 2009-04-09 Axium Inc. Layer depalletizing tool
DE102008035330A1 (de) * 2008-07-29 2010-02-04 Krones Ag Vorrichtung zum Kommissionieren und/oder Umschichten mehrerer palettierter Gebinde
IT1401552B1 (it) 2010-07-16 2013-07-26 Bema Srl Apparecchiatura per la manipolazione di strati di prodotti pallettizzati
DE102010033115A1 (de) * 2010-08-02 2012-02-02 Siemens Aktiengesellschaft Entlademanipulator und Verfahren zum automatisierten Entladen von Stückgütern aus Containern und Laderäumen von Fahrzeugen
FR2978436B1 (fr) * 2011-07-29 2015-12-04 Vendee Concept Installation pour la manutention de produits, en particulier de tranches de denrees alimentaires
DE102012009649B4 (de) 2012-05-14 2016-05-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Greifvorrichtung
CN103600867B (zh) * 2013-12-03 2016-03-02 铜陵浩荣电子科技有限公司 覆铜板打包装置
HUE032344T2 (en) 2014-01-27 2017-09-28 Mayr Melnhof Karton Ag Unloading device for unloading cargo from pallet and procedure for unloading cargo from pallet
CN105083630A (zh) * 2015-08-27 2015-11-25 无锡一名精密铜带有限公司 一种铜带包装机
DE102016218320B4 (de) 2016-09-23 2020-01-09 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Aufnahmevorrichtung sowie ein Verfahren zum Greifen eines Objektes
JP6725161B2 (ja) * 2018-10-16 2020-07-15 中洲電機株式会社 搬送ユニット、移載機構及び処理システム
CN109704090B (zh) * 2018-12-04 2020-06-23 合肥巍华钢结构有限公司 一种用于修建钢结构建筑的彩钢板放置框
CN109436817A (zh) * 2019-01-09 2019-03-08 合肥泰禾光电科技股份有限公司 辊筒拆垛装置及辊筒拆垛方法
GB201918080D0 (en) 2019-12-10 2020-01-22 Blade Dynamics Ltd Method for manufacturing a wind turbine blade and an apparatus for manufacturing a wind turbine blade
CN110980248B (zh) * 2019-12-20 2021-08-10 广东智源机器人科技有限公司 移载机构
CN111908145A (zh) * 2020-09-17 2020-11-10 合肥泰禾光电科技股份有限公司 拆垛装置、拆垛系统及拆垛方法
US20220097243A1 (en) * 2020-09-25 2022-03-31 Intelligrated Headquarters, Llc Closed loop solution for loading/unloading cartons by truck unloader
CN112478797B (zh) * 2020-11-03 2022-05-31 浙江芯美生物科技有限公司 用于袋装胶原蛋白肽的码垛装置
CN112722422B (zh) * 2021-01-06 2024-08-09 乐贝格(上海)食品有限公司 一种花生糖包装浮动送料装置和包装设备
CN112794088A (zh) * 2021-01-28 2021-05-14 枞阳立太智能装备有限公司 一种超薄板的推板进料系统
EP4129862A1 (en) * 2021-08-05 2023-02-08 Fameccanica.Data S.p.A. A plant and a method for forming compound pallet units
WO2024206690A1 (en) * 2023-03-28 2024-10-03 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects using kicker rollers

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US1464513A (en) * 1919-10-31 1923-08-14 Agasote Millboard Co Sheet-handling device
US3070241A (en) * 1959-08-24 1962-12-25 Alvey Conveyor Mfg Company Machine for unstacking palletized loads
US3749257A (en) * 1970-11-19 1973-07-31 Yamashita Iron Works Ltd Unloading machine
US3799057A (en) * 1972-01-26 1974-03-26 Palmer Shile Co Electrical control system
US4281955A (en) * 1979-10-31 1981-08-04 Mcwilliams Joseph E Method and apparatus for unloading bulk mail vans
US4453874A (en) 1982-12-22 1984-06-12 Internationale Octrooi Maatschappij "Octropa" Bv Article-handling apparatus
US4766322A (en) * 1984-09-14 1988-08-23 Kabushiki Kaisha Toshiba Robot hand including optical approach sensing apparatus
US5238350A (en) * 1990-06-20 1993-08-24 Digitron Ag Method of and an apparatus for taking up and setting down, respectively, of package-like articles
US5265712A (en) 1991-12-23 1993-11-30 Digitron Ag Method and apparatus for taking up articles
JPH06171762A (ja) 1992-05-20 1994-06-21 Murata Mach Ltd ピッキング装置
JPH0812084A (ja) * 1994-07-05 1996-01-16 Mitsubishi Heavy Ind Ltd デパレタイザ
US20030137273A1 (en) * 2000-08-15 2003-07-24 Acuid Corporation (Guernsey) Limited Method and apparatus for controlling acceleration and velocity of a stepper motor
US20040261485A1 (en) * 2002-06-28 2004-12-30 Oscam S.P.A. Installation for processing metal bars with improved means for transferring the bars, and method provided thereby

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120034060A1 (en) * 2005-02-18 2012-02-09 Csi Industries B.V. Depalletizing device
US8342791B2 (en) * 2005-02-18 2013-01-01 Csi Industries B.V. Depalletizing device

Also Published As

Publication number Publication date
US20090028687A1 (en) 2009-01-29
WO2006088354A1 (en) 2006-08-24
US8342791B2 (en) 2013-01-01
CA2595816A1 (en) 2006-08-24
US20120034060A1 (en) 2012-02-09
EP1855970A1 (en) 2007-11-21
NL1028344C2 (nl) 2006-08-21
EP1855970B1 (en) 2009-07-15
DE602006007816D1 (de) 2009-08-27

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